Advanced Materials Research Vols. 403-408

Abstract: A swash plate pump-controlled hydraulic motor system has been presented in this work. The flow rate of the hydraulic motor system and then the output speed could be controlled by adjusting the swash plate angle. Actuating the swash plate using DC servomotor could enhance dynamic performance of the pump, and then better improve the performance of overall hydraulic motor system. In this study, another speed control configuration has been introduced and the angular velocity of hydraulic motor has been controlled using both PI (proportional and integral) and FL (fuzzy logic) controllers.

Abstract: D.C motors have special important uses for human that used in many places needs a specific speed or variable speed , so that we need to control this speed for any purpose . Nowadays, the subject of controlling the electric motor and measuring variable is of important subject . Because of scientific and technical development in this field according to difficulty of teaching control material by using computer. In the traditional way the past studies assumed that the best method to understand the concepts of controlling by the computer are by practical exercises in lab and since the lab doesn't contain such ability . This search was represented to do the first step in teaching general principals of controlling by design a window dealing with computer to control the speed of d.c motor . The work on the program helps to use more than one sense which helps to stable the scientific material in the mind of students .

Abstract: In this paper a novel sensorless speed control scheme of Induction Motor (IM) by means of Direct Torque Fuzzy Control (DTFC), PI-type fuzzy speed regulator and fuzzy based Model Reference Adaptive Systems (MRAS) speed estimator strategies has been proposed, which seems to be a boom in sensorless speed control schemes of AC drives. Normally, the conventional sensorless speed control performance of IM drive deteriorates at low speed. Hence the attention has been focused to improve the performance of the IM drive at low speed range as well, by implementing fuzzy control strategies. So, this research work describes a novel adaptive fuzzy based speed estimation mechanism which replaces the conventional PI controller used in MRAS adaptation mechanism. The proposed scheme is validated through extensive numerical simulations on MATLAB. The simulated results signify that the proposed control scheme provides satisfactory high dynamic performance and robustness during low speed operations of IM drive compare to conventional sensorless speed estimator of DTFC scheme.

Abstract: Generalization of the frequency domain robust tuning has been proposed in this paper for a family of fractional order (FO) PI/PID controllers. The controller tuning is enhanced with two new FO reduced parameter templates which are capable of capturing higher order process dynamics with much better accuracy. The paper validates the proposed methodology with a standard test-bench of higher order processes to show the relative merits of the family of FO controller structures.

Abstract: This paper investigates the effect of Static VAR Compensator (SVC) on power system load shedding. SVC is mainly used in power system stability improvement. This paper proposes a new use of SVC to reduce load shedding. An algorithm of Newton Raphson method (NR) to reduce the load shedding for installing SVC in the system is proposed in this paper. 5 bus test system example is used to demonstrate the effect on load shedding. The test results show that the effect of SVC is significant, in this Static VAR compensator (SVC) is incorporated in Newton Raphson method in which Power Flow Solution is a solution of the network under steady state conditions subjected to certain constraints under which the system operates. The power flow solution gives the nodal voltages and phase angles given a set of power injections at buses and specified voltages at a few, the model of SVC i.e. SVC Susceptance model is discussed. It is also shown that the power system losses are decreased after incorporating the SVC in this N-R method. The results are generated for 5-Bus system. By incorporating the SVC the amount of load shedding is reduced to get the voltages in their limits.

Abstract: This paper proposes a novel object selection technique for a robotized kitchen which provides autonomy to elderly and disabled people while working in kitchen. The interface uses touch screen technology, managed from a central location. The design consists of a robotic arm whose movement is controlled according to the selection of items made by the user. We have used RFID technology for unique identification of the objects and ‘Reverse Code’ for tracking purpose. Based on the response of RFID interrogator and ‘Reverse code’, the robotic arm picks and places the object at the desired location. The interface does not use computer vision technology and provides flexibility with the size of kitchen room. The design also provides several liberalities to the user in context to manual placing and aims at minimizing the errors and rectifying them autonomously to its maximum extent. The arm can also be programmed to select and place various objects required for a particular task, in a predefined manner. At the end of this paper, we have discussed the effectiveness of this system in countering some common errors.

Abstract: This research work was devoted to present a novel adaptive controller which uses two negative stable feedbacks with a positive unstable positive feedback. The positive feedback causes the plant to do the break, therefore reaching the desired trajectory with tiny overshoots. However, the two other negative feedback gains controls the plant in two other sides of positive feedback, making the system to be stable, and controlling the steady-state, and transient responses. This controller was performed for PUMA-560 trajectory planning, and a comparison was made with a fuzzy controller. The fuzzy controller parameters were obtained according to the PSO technique. The simulation results shows that the novel adaptive controller, having just three parameters, can perform well, and can be a good substitute for many other controllers for complex systems such as robotic path planning.

Abstract: This paper presents a way to build an autonomous obstacle avoiding helicopter. This helicopter is built on an ATmega8 microcontroller which has been programmed using Arduino. It basically has 3 infra-red sensors (LM358), one in- front, one at the left and one at the right. It has 3 DC motors, two at the top and one at the rear. There are 2 H-bridges (L293D) mounted on it to provide the driving mechanisms for the motors. There are three DC motors with rated voltage of 3.7V used. Once the helicopter has been turned on, it rises about 10cms above the ground and starts moving straight until an obstacle has been detected by the front sensor. It then starts turning right until the obstacle is no longer obstructing its movement. If the sensor on the left detects an obstacle it turns right, vice-versa. If there are obstacles on all three sides, it comes to a halt. It continues doing this until it has been brought to rest by switching it off.

Abstract: The paper describes a novel approach of using distributed intelligent agents for the integration on-board and off-board sensors for mobile robot path planning in indoor environments. The system gives the robot a prior knowledge about the path state, which will be taken by the robot during navigating from an initial position to a target point. This enables the robot to intelligently decide in advance which path should be taken before reaching a point where a barrier to progress may have appeared. The system takes advantage of surveillance cameras already in buildings to aid the robot to plan a path. We have built intelligent agent based system that supports controlling the robot efficiently, using cameras available in the building and managing the communication between agents. The multi-agent system architecture includes two platforms, each platform consist of different agents connected together wirelessly using a JADE middleware platform.

Abstract: In this paper, we investigate the mechanics of dance for humans that can be applied to robots, in an attempt to make dancing robots learn the fundamentals of dance, and improve their dancing. We provide a conceptual definition of ‘dance’ and ‘movement’ to make robot dancers form their own movements to music. We used a virtual robot dog to experiment on our conceptual definitions, and human subjects to give their feedback on the robot’s dancing. Experimental results show that the robot learns (using reinforcement learning) our conceptual definition of ‘dance’ and that a dance that has structure and fundamental joint movements, improves the dancing.